We have a forward car seat for 3yr old in 2nd row. Enough room for boys to squeeze between back of front chair and the kid seat. No issue with driver seat fully back and no kicking issue yet.
We do prefer the sienna for the sliding chair, but the stow and go is really great. We run with the 2nd row behind passenger stowed most of the time which keeps everything in the back nice and open for boys in 3rd row (2-1-3 config front to back).
Btw, the kids seats stay in place when 2nd row tilted forward for rear access which is kind of neat. We don't need it, but could be handy for some situations when 2nd row is fully occupied.